Abstract
In the process of manufacturing and operation of mechanical equipment, accurate measurement of vector force provides an important basis for real-time control of working conditions and process adjus...
Highlights
Heavy-load equipment has the characteristics of heavy loading, large inertia, multi-degree of freedom, and multi-dimensional loading.[1,2,3] Sensing and measurement is an important part of the control system for heavy-load equipment
To achieve that the dimension coupling of three-component force unit is less than 3%, the assembly tolerance range is proposed by the theoretical model of assembly error combined with the stiffness of relevant components
Taking displacement and angle assembly error of sensor into consideration, the theoretical model of assembly error of three-component force unit is established, and the theoretical expression of dimensional coupling caused by assembly error is obtained
Summary
Heavy-load equipment has the characteristics of heavy loading, large inertia, multi-degree of freedom, and multi-dimensional loading.[1,2,3] Sensing and measurement is an important part of the control system for heavy-load equipment. Piezoelectric six-axis force/torque sensors generally adopt multi-point support combined measuring structure, and dimension coupling is an important factor limiting the test accuracy. Because of the clearance between sensor and preloaded bolt, the displacement and angle assembly error of sensor will change direction and action point of theoretical vector force, and the piezoelectric wafer will be unevenly stressed, resulting in the generation of dimension coupling. Involved in the theoretical model, the method of simulation combining experiment is used to measure the three-directional stiffness of upper plate, sensor, and preloaded bolt. Interference force in X- and Y-direction caused by the main force Fz can be obtained, and the dimension coupling ezx and ezy are shown in equation (10). Three-directional stiffness of upper plate, sensor, and preloaded bolt is obtained by simulation combining experiment to calculate allowable assembly error range of three-component force unit. Through the loading force experiment, three-directional deformation of sensor is measured by inductive length measuring instrument so that the three-directional stiffness can be calculated accurately
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